pid_gains_setter.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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#include "control_toolbox/pid_gains_setter.h"

namespace control_toolbox {

PidGainsSetter::~PidGainsSetter()
{
  serve_set_gains_.shutdown();
}

PidGainsSetter& PidGainsSetter::add(Pid *pid)
{
  assert(pid);
  pids_.push_back(pid);
  return *this;
}

void PidGainsSetter::advertise(const ros::NodeHandle &n)
{
  node_ = n;
  serve_set_gains_ = node_.advertiseService("set_gains", &PidGainsSetter::setGains, this);
}

bool PidGainsSetter::setGains(control_toolbox::SetPidGains::Request &req,
                              control_toolbox::SetPidGains::Response &resp)
{
  for (size_t i = 0; i < pids_.size(); ++i)
    pids_[i]->setGains(req.p, req.i, req.d, req.i_clamp, -req.i_clamp, req.antiwindup);
  node_.setParam("p", req.p);
  node_.setParam("i", req.i);
  node_.setParam("d", req.d);
  node_.setParam("i_clamp", req.i_clamp);
  node_.setParam("antiwindup", req.antiwindup);
  return true;
}

}